Supplementary optimality properties of the restoration phase of sequential gradient-restoration algorithms for optimal control problems

In this paper, sequential gradient-restoration algorithms for optimal control problems are considered, and attention is focused on the restoration phase. It is shown that the Lagrange multipliers associated with the restoration phase not only solve the auxiliary minimization problem of the restoration phase, but are also endowed with a supplementary optimality property: they minimize a special functional, quadratic in the multipliers, subject to the multiplier differential equations and boundary conditions, for given state, control, and parameter.Dedicated to L. CesariThis work was supported by a grant of the National Science Foundation.     

Sequential gradient-restoration algorithm for optimal control problems with general boundary conditions

This paper considers the numerical solution of two classes of optimal control problems, called Problem P1 and Problem P2 for easy identification.Problem P1 involves a functionalI subject to differential constraints and general boundary conditions. It consists of finding the statex(t), the controlu(t), and the parameter so that the functionalI is minimized, while the constraints and the boundary conditions are satisfied to a predetermined accuracy. Problem P2 extends Problem P1 to include nondifferential constraints to be satisfied everywhere along the interval of integration. Algorithms are developed for both Problem P1 and Problem P2.The approach taken is a sequence of two-phase cycles, composed of a gradient phase and a restoration phase. The gradient phase involves one iteration and is designed to decrease the value of the functional, while the constraints are satisfied to first order. The restoration phase involves one or more iterations and is designed to force constraint satisfaction to a predetermined accuracy, while the norm squared of the variations of the control, the parameter, and the missing components of the initial state is minimized.The principal property of both algorithms is that they produce a sequence of feasible suboptimal solutions: the functions obtained at the end of each cycle satisfy the constraints to a predetermined accuracy. Therefore, the values of the functionalI corresponding to any two elements of the sequence are comparable.The stepsize of the gradient phase is determined by a one-dimensional search on the augmented functionalJ, while the stepsize of the restoration phase is obtained by a one-dimensional search on the constraint errorP. The gradient stepsize and the restoration stepsize are chosen so that the restoration phase preserves the descent property of the gradient phase. Therefore, the value of the functionalI at the end of any complete gradient-restoration cycle is smaller than the value of the same functional at the beginning of that cycle.The algorithms presented here differ from those of Refs. 1 and 2, in that it is not required that the state vector be given at the initial point. Instead, the initial conditions can be absolutely general. In analogy with Refs. 1 and 2, the present algorithms are capable of handling general final conditions; therefore, they are suited for the solution of optimal control problems with general boundary conditions. Their importance lies in the fact that many optimal control problems involve initial conditions of the type considered here.Six numerical examples are presented in order to illustrate the performance of the algorithms associated with Problem P1 and Problem P2. The numerical results show the feasibility as well as the convergence characteristics of these algorithms.This research was supported by the Office of Scientific Research, Office of Aerospace Research, United States Air Force, Grant No. AF-AFOSR-76-3075. Partial support for S. Gonzalez was provided by CONACYT, Consejo Nacional de Ciencia y Tecnologia, Mexico City, Mexico.     

Sequential conjugate-gradient-restoration algorithm for optimal control problems. Part 1. Theory

This paper considers the problem of minimizing a functionalI which depends on the statex(t), the controlu(t), and the parameter π. Here,I is a scalar,x ann-vector,u anm-vector, and π ap-vector. At the initial point, the state is prescribed. At the final point, the state and the parameter are required to satisfyq scalar relations. Along the interval of integration, the state, the control, and the parameter are required to satisfyn scalar differential equations. First, the case of a quadratic functional subject to linear constraints is considered, and a conjugate-gradient algorithm is derived. Nominal functionsx(t),u(t), π satisfying all the differential equations and boundary conditions are assumed. Variations Δx(t), δu(t), Δπ are determined so that the value of the functional is decreased. These variations are obtained by minimizing the first-order change of the functional subject to the differential equations, the boundary conditions, and a quadratic constraint on the variations of the control and the parameter. Next, the more general case of a nonquadratic functional subject to nonlinear constraints is considered. The algorithm derived for the linear-quadratic case is employed with one modification: a restoration phase is inserted between any two successive conjugate-gradient phases. In the restoration phase, variations Δx(t), Δu(t), Δπ are determined by requiring the least-square change of the control and the parameter subject to the linearized differential equations and the linearized boundary conditions. Thus, a sequential conjugate-gradient-restoration algorithm is constructed in such a way that the differential equations and the boundary conditions are satisfied at the end of each complete conjugate-gradient-restoration cycle. Several numerical examples illustrating the theory of this paper are given in Part 2 (see Ref. 1). These examples demonstrate the feasibility as well as the rapidity of convergence of the technique developed in this paper. This research was supported by the Office of Scientific Research, Office of Aerospace Research, United States Air Force, Grant No. AF-AFOSR-72-2185. The authors are indebted to Professor A. Miele for stimulating discussions. Formerly, Graduate Studient in Aero-Astronautics, Department of Mechanical and Aerospace Engineering and Materials Science, Rice University, Houston, Texas.     

向量极值问题的一种含有梯度的最优性条件

本文在赋范空间中引入 G-可微函数的梯度概念 ,利用择一定理 ,我们获得了向量极值问题含有梯度的的最优性条件     

具有等式与不等式约束条件拟可微优化的Lagrange乘子型最优性条件

讨论了不等式约束优化问题中拟微分形式下Ｆｒｉｔｚ Ｊｏｈｎ必要条件与 Ｃｌａｒｋｅ广义梯度形式下Ｆｒｉｔｚ Ｊｏｈｎ必要条件的关系．在较弱条件下给出了具有等式与不等式约束条件的两个Ｌａｇｒａｎｇｅ乘子形式的最优性必要条件,在这两个条件中等式约束函数的拟微分和Ｃｌａｒｋｅ广义梯度分别被使用。     

Throughput and delay optimality of power-of-d choices in inhomogeneous load balancing systems

It is well-known that the power-of-d choices routing algorithm maximizes throughput and is heavy-traffic optimal in load balancing systems with homogeneous servers. However, if the servers are heterogeneous, throughput optimality does not hold in general. We find necessary and sufficient conditions for throughput optimality of power-of-d choices when the servers are heterogeneous, and we prove that almost the same conditions are sufficient to show heavy-traffic optimality. Additionally, we generalize the sufficient condition for throughput optimality to a larger class of routing policies.     

Two-Phase Model Algorithm with Global Convergence for Nonlinear Programming

The family of feasible methods for minimization with nonlinear constraints includes the nonlinear projected gradient method, the generalized reduced gradient method (GRG), and many variants of the sequential gradient restoration algorithm (SGRA). Generally speaking, a particular iteration of any of these methods proceeds in two phases. In the restoration phase, feasibility is restored by means of the resolution of an auxiliary nonlinear problem, generally a nonlinear system of equations. In the minimization phase, optimality is improved by means of the consideration of the objective function, or its Lagrangian, on the tangent subspace to the constraints. In this paper, minimal assumptions are stated on the restoration phase and the minimization phase that ensure that the resulting algorithm is globally convergent. The key point is the possibility of comparing two successive nonfeasible iterates by means of a suitable merit function that combines feasibility and optimality. The merit function allows one to work with a high degree of infeasibility at the first iterations of the algorithm. Global convergence is proved and a particular implementation of the model algorithm is described.     

Design Sensitivity for a Hyperelastic Rod in Large Displacement with Respect to Its Midcurve Shape

The paper is concerned with an optimal design problem for a hyperelastic rod. The function describing the position of a point at the line of rod cross-section centroids in its reference configuration is the variable subject to optimization. The necessary optimality condition is formulated. The continuation method combined with the gradient descent algorithm are employed to solve this problem numerically. Numerical results are provided.     

On Global Optimality Conditions and Cutting Plane Algorithms

We discuss global optimality conditions and cutting plane algorithms for DC optimization. The discussion is motivated by certain incorrect results that have appeared recently in the literature on these topics. Incidentally, we investigate the relation of the Tikhonov reciprocity theorem to the optimality conditions for general nonconvex global optimization problems and show how the outer-approximation scheme developed earlier for DC programming can be used to solve a wider class of problems.     

Generalized Bellman-Hamilton-Jacobi optimality conditions for a control problem with a boundary condition

In this paper we study conditions for optimality of a deterministic control problem where the state of the system is required to stop at the boundary. Using the Clarke generalized gradient, we refine the classical verification theorem and show that it is not only sufficient but also necessary for optimality. It is also shown that the solution to the generalized Bellman-Jacobi-Hamilton equation involving the Clarke generalized gradient is unique among the class of regular functions.     

Multiple-Subarc Gradient-Restoration Algorithm, Part 1: Algorithm Structure

Rapid progresses in information and computer technology allow the development of more advanced optimal control algorithms dealing with real-world problems. In this paper, which is Part 1 of a two-part sequence, a multiple-subarc gradient-restoration algorithm (MSGRA) is developed. We note that the original version of the sequential gradient-restoration algorithm (SGRA) was developed by Miele et al. in single-subarc form (SSGRA) during the years 1968–86; it has been applied successfully to solve a large number of optimal control problems of atmospheric and space flight.MSGRA is an extension of SSGRA, the single-subarc gradient-restoration algorithm. The primary reason for MSGRA is to enhance the robustness of gradient-restoration algorithms and also to enlarge the field of applications. Indeed, MSGRA can be applied to optimal control problems involving multiple subsystems as well as discontinuities in the state and control variables at the interface between contiguous subsystems.Two features of MSGRA are increased automation and efficiency. The automation of MSGRA is enhanced via time normalization: the actual time domain is mapped into a normalized time domain such that the normalized time length of each subarc is 1. The efficiency of MSGRA is enhanced by using the method of particular solutions to solve the multipoint boundary-value problems associated with the gradient phase and the restoration phase of the algorithm.In a companion paper [Part 2 (Ref. 2)], MSGRA is applied to compute the optimal trajectory for a multistage launch vehicle design, specifically, a rocket-powered spacecraft ascending from the Earth surface to a low Earth orbit (LEO). Single-stage, double-stage, and triple-stage configurations are considered and compared.     

On some elliptic optimal control problems with state constraints

In this paper optimality conditions will be derived for elliptic optimal control problems with a restriction on the state or on the gradient of the state. Essential tools are the method of transposition and generalized trace theorems and green's formulas from the theory of elliptic differential equations.     

Necessary optimality conditions for minimax programming problems with mathematical constraints

In this paper, necessary optimality conditions in terms of upper and/or lower subdifferentials of both cost and constraint functions are derived for minimax optimization problems with inequality, equality and geometric constraints in the setting of non-differentiatiable and non-Lipschitz functions in Asplund spaces. Necessary optimality conditions in the fuzzy form are also presented. An application of the fuzzy necessary optimality condition is shown by considering minimax fractional programming problem.     

No-gap optimality conditions for an optimal control problem with pointwise control-state constraints

An optimal control problem with pointwise mixed constraints of the instationary three-dimensional Navier–Stokes–Voigt equations is considered. We derive second-order optimality conditions and show that there is no gap between second-order necessary optimality conditions and second-order sufficient optimality conditions. In addition, the second-order sufficient optimality conditions for the problem where the objective functional does not contain a Tikhonov regularization term are also discussed.     

Bias Optimality versus Strong 0-Discount Optimality in Markov Control Processes with Unbounded Costs

This paper deals with expected average cost (EAC) and discount-sensitive criteria for discrete-time Markov control processes on Borel spaces, with possibly unbounded costs. Conditions are given under which (a) EAC optimality and strong –1-discount optimality are equivalent; (b) strong 0-discount optimality implies bias optimality; and, conversely, under an additional hypothesis, (c) bias optimality implies strong 0-discount optimality. Thus, in particular, as the class of bias optimal policies is nonempty, (c) gives the existence of a strong 0-discount optimal policy, whereas from (b) and (c) we get conditions for bias optimality and strong 0-discount optimality to be equivalent. A detailed example illustrates our results.     

Optimal Control of the Instationary Three Dimensional Navier-Stokes-Voigt Equations

We study an optimal control problem with quadratic objective functional for the three dimensional Navier-Stokes-Voigt equations in bounded domains. We show the existence of optimal solutions, the necessary optimality conditions and the sufficient optimality conditions. The second-order optimality conditions obtained in the article seem to be optimal.     

Differential Conditions for Constrained Nonlinear Programming via Pareto Optimization

We deal with the differential conditions for local optimality. The conditions that we derive for inequality constrained problems do not require constraint qualifications and are the broadest conditions based on only first-order and second-order derivatives. A similar result is proved for equality constrained problems, although the necessary conditions require the regularity of the equality constraints.     

On strong and weak second-order necessary optimality conditions for nonlinear programming

Second-order necessary optimality conditions play an important role in optimization theory. This is explained by the fact that most numerical optimization algorithms reduce to finding stationary points satisfying first-order necessary optimality conditions. As a rule, optimization problems, especially the high dimensional ones, have a lot of stationary points so one has to use second-order necessary optimality conditions to exclude nonoptimal points. These conditions are closely related to second-order constraint qualifications, which guarantee the validity of second-order necessary optimality conditions. In this paper, strong and weak second-order necessary optimality conditions are considered and their validity proved under so-called critical regularity condition at local minimizers.     

optimal control of dynamical ginzburg—landau vortices in superconductivity

In this paper we consider an optimal control problem which is governed by a generalized Ginzhurg—Landau model which describes the phase transitions inking place in the superconducting films with variable thickness. The objective of the work is to explore the possibilities of controlling the motion of vortices in the superconducting films through the external magnetic field. The existence of solutions of the nonlinear governing system of equations is established by a rigorous analysis of the method of lines. The existence of optimal solutions and the first order necessary conditions for optimality are obtained